version: 66.03
glider: 128
mission: 2
dive: 693
start: 10 3 107 9 49 54
data:
$ID,128
$MISSION,2
$DIVE,693
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,67
$T_MISSION,80
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,538.67877
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-75425.297
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,0.0001162386
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,092825,4806.369,-12222.678,25,1.2,37,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-66.6
$GPS2,094857,4806.227,-12222.489,11,1.0,11,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.110,0.187
$KALMAN_X,-38044.6,671.6,-21.3,38707.1,209.7
$KALMAN_Y,-15281.5,-929.6,-55.1,13620.8,-344.3
$MHEAD_RNG_PITCHd_Wd,311.2,3778,-11.0,-5.970
$D_GRID,105
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,33,-0.79,-146.6,0.0,0.0,0,111,0.00,0.00,-75.20,0.000,2,0.000,0.000,19,2350,2138
$GC,116,-0.79,-146.6,3.3,-1.5,14,157,9.88,2.28,-25.25,0.000,4,0.202,0.044,2479,946,2998
$GC,465,-0.79,-146.6,35.8,-8.5,59,471,0.00,2.25,0.00,0.000,6,0.000,0.032,2476,2347,3002
$GC,664,-0.79,-146.6,53.6,-8.8,78,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2347,3002
$GC,982,-0.79,-146.6,81.4,-8.5,108,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2347,3002
$STATE,1265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1265,begin apogee
$GC,1274,-0.28,0.0,105.7,8.4,135,1391,0.52,0.00,112.18,0.742,6,0.104,0.000,2643,2186,2399
$STATE,1392,end apogee,CONTROL_FINISHED_OK
$STATE,1392,begin climb
$GC,1396,0.79,146.6,110.3,0.0,147,1512,1.05,0.00,111.25,0.693,6,0.080,0.000,2987,2185,1802
$GC,1830,0.79,146.6,84.0,7.1,188,1833,0.00,2.38,0.00,0.000,4,0.000,0.045,2986,3606,1799
$GC,1903,0.79,146.6,77.9,8.3,194,1910,0.00,2.22,0.00,0.000,6,0.000,0.026,2996,2212,1799
$GC,2234,0.79,146.6,54.5,6.9,225,2238,0.00,2.33,0.00,0.000,4,0.000,0.044,2996,3616,1799
$GC,2269,0.79,146.6,51.5,7.6,227,2275,0.00,2.22,0.00,0.000,6,0.000,0.026,3004,2200,1799
$GC,2600,0.79,146.6,28.6,6.9,258,2604,0.00,2.33,0.00,0.000,4,0.000,0.045,3004,3606,1799
$GC,2641,0.79,146.6,25.1,8.0,261,2645,0.00,2.22,0.00,0.000,6,0.000,0.027,3009,2191,1800
$GC,2850,0.83,175.4,13.1,5.2,290,2879,0.00,2.35,23.45,0.759,4,0.000,0.044,3009,3606,1683
$GC,2957,0.86,206.8,7.4,5.1,308,2986,0.00,2.22,24.30,0.702,6,0.000,0.026,3009,2197,1555
$GC,3057,0.98,298.5,3.5,3.4,325,3120,0.12,2.35,56.88,0.666,4,0.065,0.034,3070,808,1182
$STATE,3221,end climb,NO_VERTICAL_VELOCITY
$STATE,3221,begin surface
$SM_CCo,3226,123.00,0.640,0,0,203,538.68
$SM_GC,2.32,8.88,0.00,0.00,0.041,0.000,0.000,17,2361,193,-8.45,0.31,541.38
$IRIDIUM_FIX,4748.51,-12220.12,031007,131329
$TT8_MAMPS,0.026078
$HUMID,1848
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,41.1
$24V_AH,24.3,62.232
$10V_AH,10.7,31.449
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,20.450,27.975,328.050,123.000,0.000,149.872,75.712,612.118,0.250,0.000,0.000,13.427,553.913,1888.077,473.633,718.323,1072.965,33.356,860.525,0.000,733.562,0.000,2.513
$DEVICE_MAMPS,201.721,45.253,759.330,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,252.782,273.863,597.548,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15914,354
$CFSIZE,260165632,238534656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,104855,4806.325,-12222.768,26,1.3,38,18.3